#include "inv_mpu_dmp_motion_driver.h"
#include "inv_mpu.h"
#include <math.h>

// This is a placeholder implementation for DMP functionality
// For full DMP features, you would need the complete InvenSense DMP library

static unsigned short dmp_features = 0;
static unsigned short dmp_fifo_rate = DMP_SAMPLE_RATE;

/**
 * @brief Load DMP firmware
 * @return 0 if success, -1 if error
 */
int dmp_load_motion_driver_firmware(void)
{
    // Placeholder - actual DMP firmware loading would go here
    return -1;  // Not implemented
}

/**
 * @brief Set DMP FIFO rate
 * @param rate: desired rate in Hz
 * @return 0 if success, -1 if error
 */
int dmp_set_fifo_rate(unsigned short rate)
{
    dmp_fifo_rate = rate;
    return 0;
}

/**
 * @brief Get DMP FIFO rate
 * @param rate: pointer to store rate
 * @return 0 if success, -1 if error
 */
int dmp_get_fifo_rate(unsigned short *rate)
{
    if (rate) {
        *rate = dmp_fifo_rate;
        return 0;
    }
    return -1;
}

/**
 * @brief Enable DMP features
 * @param mask: feature mask
 * @return 0 if success, -1 if error
 */
int dmp_enable_feature(unsigned short mask)
{
    dmp_features = mask;
    return 0;
}

/**
 * @brief Get enabled DMP features
 * @param mask: pointer to store feature mask
 * @return 0 if success, -1 if error
 */
int dmp_get_enabled_features(unsigned short *mask)
{
    if (mask) {
        *mask = dmp_features;
        return 0;
    }
    return -1;
}

/**
 * @brief Convert quaternion to Euler angles
 * @param quat: quaternion (Q30 format)
 * @param euler: Euler angles in degrees
 */
void dmp_quaternion_to_euler(const long *quat, float *euler)
{
    if (quat && euler) {
        float q0 = quat[0] / 1073741824.0f;  // Convert Q30 to float
        float q1 = quat[1] / 1073741824.0f;
        float q2 = quat[2] / 1073741824.0f;
        float q3 = quat[3] / 1073741824.0f;

        // Convert to Euler angles (roll, pitch, yaw)
        euler[0] = atan2f(2.0f * (q0 * q1 + q2 * q3), 1.0f - 2.0f * (q1 * q1 + q2 * q2)) * 180.0f / M_PI;
        euler[1] = asinf(2.0f * (q0 * q2 - q3 * q1)) * 180.0f / M_PI;
        euler[2] = atan2f(2.0f * (q0 * q3 + q1 * q2), 1.0f - 2.0f * (q2 * q2 + q3 * q3)) * 180.0f / M_PI;
    }
}

/**
 * @brief Convert quaternion to roll, pitch, yaw
 * @param quat: quaternion (Q30 format)
 * @param rpy: roll, pitch, yaw in degrees
 */
void dmp_quaternion_to_roll_pitch_yaw(const long *quat, float *rpy)
{
    dmp_quaternion_to_euler(quat, rpy);
}

// Placeholder implementations for other DMP functions
int dmp_set_interrupt_mode(unsigned char mode) { return -1; }
int dmp_set_orientation(unsigned short orient) { return -1; }
int dmp_set_gyro_bias(long *bias) { return -1; }
int dmp_set_accel_bias(long *bias) { return -1; }
int dmp_read_fifo(short *gyro, short *accel, long *quat, unsigned long *timestamp, short *sensors, unsigned char *more) { return -1; }
int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh) { return -1; }
int dmp_set_tap_axes(unsigned char axis) { return -1; }
int dmp_set_tap_count(unsigned char min_taps) { return -1; }
int dmp_set_tap_time(unsigned short time) { return -1; }
int dmp_set_tap_time_multi(unsigned short time) { return -1; }
int dmp_set_shake_reject_thresh(long sf, unsigned short thresh) { return -1; }
int dmp_set_shake_reject_time(unsigned short time) { return -1; }
int dmp_set_shake_reject_timeout(unsigned short time) { return -1; }
int dmp_get_tap_count(unsigned char *count) { return -1; }
int dmp_get_tap_dir(unsigned char *dir) { return -1; }
int dmp_get_orient(unsigned char *orient) { return -1; }
int dmp_get_gyro_bias(long *bias) { return -1; }
int dmp_get_accel_bias(long *bias) { return -1; }
